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In the paper, the algorithm of designing some geometrical parameters of a Delta parallel manipulator has been described. The manipulator is to work in a specified workspace, which is given as a set of points. The first step of the algorithm seeks the possible solutions, and because there are an infinite number of them, the objective of the second step is to limit the number by an optimization. Owing to this, it is possible to find parameters of the manipulator, whose workspace contains the specified points.

An experimental study of spinal biomechanics both in vivo and in vitro is difficult and often not reliable enough. The mathematical modelling and computer simulation approach is one that can be successfully applied. Modelling in this case is difficult due to the very complicated, heterogeneous nature of the object under investigation. The paper presents a biomechanical model of the spine system consisting of the spinal column (vertebrae, discs), ligaments, muscles directly and indirectly acting on the spinal column, as well as the rib-cage, abdomen and part of the pelvis. The finite element method combined with the optimization approach has been used for modelling. Typical results of these investigations are presented.

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